CN107554782B - It is a kind of based on flutter-fold-twisted coupling movement bionic flapping-wing flying vehicle - Google Patents
It is a kind of based on flutter-fold-twisted coupling movement bionic flapping-wing flying vehicle Download PDFInfo
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- CN107554782B CN107554782B CN201710672737.1A CN201710672737A CN107554782B CN 107554782 B CN107554782 B CN 107554782B CN 201710672737 A CN201710672737 A CN 201710672737A CN 107554782 B CN107554782 B CN 107554782B
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Abstract
The invention discloses it is a kind of based on flutter-fold-twisted coupling movement bionic flapping-wing flying vehicle, the flapping wing aircraft is made of fuselage, two sides wing and empennage mechanism, when wing electric motor starting, crank gear rotation on wing motor output shaft, the first wing of leading portion bar, the second wing of leading portion bar, the rotation of leading portion third wing bar are successively driven, realizes the movement of fluttering of wing.Fixed gear is swung up and down with leading portion the second wing bar, and torque is passed to driven wheel of differential by planetary gear, drives third aerofoil support plate to rotate by a small margin around middle section third wing bar, realizes the twist motion of wing；Leading portion wing, middle section wing and latter end wing flutter angle difference, realize the folding movement of wing.The steering of aircraft is realized jointly by empennage and the steering engine for adjusting empennage direction.The present invention have the characteristics that drive driving link is few, be able to achieve flutter-fold-flapping motion of twisted coupling, flight flexibly and the useful lift that generates is big.
Description
Technical field
The invention belongs to bionic flapping-wing flying vehicle technical fields.More particularly to it is a kind of based on-twisted coupling fortune of fluttering-fold
Dynamic bionic flapping-wing flying vehicle.
Background technique
Flapping flight has good mobility and flexibility.It flies compared to fixed-wing, with bionics principle, imitates
Bird Flight characteristic obtains high-lift, has very high flight stability.Multiple degrees of freedom flapping motion compares single-degree-of-freedom flapping wing
The posture of flying creature can be better achieved in movement, and flight flexibly, and can be controlled preferably winged in the process of movement
Line mode.Currently, the flapping wing aircraft of research is mostly mechanism with single degree of freedom or drives multiple-degree-of-freedom mechanism, single-degree-of-freedom more
The offline mode of mechanism is simple, and flight flexibility and stability can not be compared with flying creatures, and existing multiple degrees of freedom flapping wing
Flight Vehicle Structure is complicated, and driving driving link is more, and control system is complicated.Patent (CN102211665 A) uses single-degree-of-freedom flapping wing
Movement, there is two pairs of front and back flapping wing, but fluttering up and down is symmetrical, and the lift and resistance of generation are offset, and cannot be generated effective
Lift.Patent (CN201610408704.1) discloses a kind of imitative bird flapping wing aircraft of multiple degrees of freedom, uses multiple degrees of freedom
Flapping motion, although being able to achieve multifreedom motion, driving driving link is more, and quality is big.
Summary of the invention
The present invention is directed to overcome the deficiencies in the prior art, it is therefore an objective to it is few to provide a kind of driving driving link, can be realized flutter,
It folds and torsion three degree of freedom moves, imitated the flight attitude of birds, flight is flexibly and useful lift is big flutters-roll over
The bionic flapping-wing flying vehicle of folded-twisted coupling movement.
Invention the technical solution adopted is that:
It is a kind of based on flutter-fold-twisted coupling movement bionic flapping-wing flying vehicle, it is characterised in that: the bionic flapping-wing
Aircraft is made of fuselage, empennage mechanism and wing positioned at fuselage two sides, and the fuselage includes fuselage outer framework and fixation
The wing fixed frame being mounted in the middle part of fuselage outer framework；
The wing includes leading portion wing, middle section wing, latter end wing and the soft cladding being coated on three sections of wings
Layer, the leading portion wing includes crank gear, triangular coupling rod one, triangular coupling rod two, the first wing of leading portion bar, the second wing of leading portion
Bar, leading portion third wing bar, the first aerofoil support plate and the second aerofoil support plate, the triangular coupling rod one and triangular coupling rod two
One vertex is hinged on wing fixed frame by same root pin shaft, and another vertex of triangular coupling rod one, which is equipped with, to be hinged and connected
First connecting rod, the first connecting rod other end are hinged on the eccentric part on crank gear by the first pin shaft, triangular coupling rod two it is another
A vertex is equipped with the second connecting rod hinged by the second pin shaft, and second connecting rod bottom is also articulated on the first pin shaft, triangular coupling rod
One, triangular coupling rod two and first connecting rod and second connecting rod collectively constitute a quadrilateral structure, and triangular coupling rod one and triangle connect
Outside this quadrilateral structure, the third vertex of triangular coupling rod one is equipped be hinged and connected first on the third vertex of bar two
Swing rod, the first swing rod other end are hinged and connected by third pin shaft and leading portion the first wing bar left end, also hinged on third pin shaft
There is the second swing rod, the second swing rod other end is hinged on the second pin shaft, the third vertex of triangular coupling rod two and the second machine of leading portion
Wing bar left end is hinged and connected, and leading portion third wing bar left end is also articulated on the second pin shaft, leading portion the first wing bar and leading portion
Three wing bar right ends are hinged by the 4th pin shaft, and it is left that the first aerofoil support plate is mounted on the second wing of leading portion bar
End, leading portion third wing bar are passed freely through from the first aerofoil support plate bottom rectangular channel, and the second aerofoil support plate is mounted on leading portion
Second wing bar right end, leading portion the first wing bar and leading portion third wing bar are free from the second aerofoil support plate bottom rectangular channel
It passes through, the crank gear of two wings is intermeshed transmission, and the crank gear of one of wing passes through wing motor driven；
The middle section wing includes fixed gear, planetary gear, drive bevel gear, driven wheel of differential, the first wing of middle section
Bar, middle section the second wing bar, middle section third wing bar, tail end connecting rod, third aerofoil support plate and the 4th aerofoil support plate, it is described
Fixed gear is fixed on leading portion the second wing bar right end by fixing axle, and middle section the first wing bar left end is hinged in fixing axle,
The planetary gear, drive bevel gear and driven wheel of differential are mounted on middle section the first wing bar, and planetary gear by L-type shaft
With fixed gear engaged transmission, the drive bevel gear is fixedly linked with planetary gear, and the driven wheel of differential is mounted on L-type and turns
The axis other end, driven wheel of differential and drive bevel gear engaged transmission, it is hinged by aerofoil swing rod at driven wheel of differential end face eccentric
In the middle part of third aerofoil support plate, middle section the second wing bar left end is hinged on the 4th pin shaft of leading portion third wing bar right end,
Middle section third wing bar left end is hinged on the eccentric part of planetary gear top half, middle section the first wing bar right end and middle section second
Wing bar right end is hinged on tail end connecting rod bottom together, and middle section third wing bar right end is hinged at the top of tail end connecting rod, the third wing
The front end of face support plate and the front end of the 4th aerofoil support plate are fixedly mounted respectively at the third wing bar left end of middle section and at right end,
Middle section the first wing bar and middle section the second wing bar are successively from third aerofoil support plate and the 4th aerofoil support plate bottom rectangular channel
It passes freely through；
The latter end wing includes end first connecting rod, end second connecting rod, the 5th aerofoil support plate and the 6th aerofoil branch
Fagging, the end first connecting rod, end second connecting rod and tail end connecting rod both ends are connected to form triangular structure, the 5th aerofoil branch
Fagging and the 6th aerofoil support plate are separately fixed at the left end of end first connecting rod and at right end.
As an improvement, the empennage mechanism include empennage, empennage control panel, empennage mounting rack and two control-rods and
Two steering engines, the empennage mounting rack are mounted on wing fixed frame, and horizontally disposed empennage is equipped in the middle part of empennage mounting rack and is pacified
Bar is filled, is mounted on the end of empennage mounting rod at empennage control disk center by spherical pair, empennage is fixedly mounted on empennage control
On disk, the symmetrical front end for being mounted on empennage mounting rack of two steering engines, two control-rod tail ends are mounted on by spherical pair
In empennage control panel, the oscillating rod that two control-rod front ends lead to corresponding mistake respectively is connected with two steering engines, two control-rod tail ends
A triangular structure is formed with empennage mounting rod end.
As an improvement, six aerofoil support plates are pre-large post-small streamlined structure.
As an improvement, the soft cladding layer is fixed in six aerofoil support plates, pass through the ruler of six aerofoil support plates
The very little and entire wing shapes of shape adjustment.
As an improvement, the soft cladding layer is any in nylon cloth, flexible plastic, sheet metal, leather and feather
One or more combination.
As an improvement, the bionic flapping-wing flying vehicle can be applied to airborne aircraft or submarine navigation device.
As an improvement, one or more in above-mentioned all connecting rods and swing rod is the bar of adjustable in length.
The present invention has following good effect compared with prior art:
The present invention is a kind of bionic flapping-wing flying vehicle with three degree of freedom that can be fluttered, fold but also reverse,
It is few with driving driving link, be able to achieve flutter-fold-flapping motion of twisted coupling, flight flexibly and the useful lift that generates
Big feature, relative to existing single-degree-of-freedom flapping wing aircraft, flexibly, the flight attitude being able to achieve is more for flight.Compared to
Existing more driving multiple degrees of freedom flapping wing aircrafts, have driving link few, lightweight construction, the good advantage of flight performance.It is applicable in
In the civilian and national defence such as biochemistry detection and environmental monitoring, disaster search and rescue, low-altitude reconnaissance, communication relay and signal interference.
Detailed description of the invention
Fig. 1 is overall structure of the present invention.
Fig. 2 is airframe structure schematic diagram of the present invention.
Fig. 3 is empennage mechanism structural schematic diagram of the present invention.
Fig. 4 is wing structure schematic diagram of the present invention.
Fig. 5 is wing front view of the present invention.
Fig. 6 is leading portion wing structure schematic diagram of the present invention.
Fig. 7 is wing structure schematic diagram in middle section of the present invention.
Fig. 8 is latter end wing structure schematic diagram of the present invention.
1- fuselage, 2- wing, 3- empennage mechanism, 101- wing fixed frame, 102- leading portion circular frame, the middle section 103- are round
Frame, 104- back segment circular frame, the vertical frame of 105-, 106- wing motor, 201- leading portion wing, the middle section 202- wing,
203- latter end wing, 204- crank gear, 205- triangular coupling rod one, 206- triangular coupling rod two, 207- leading portion the first wing bar,
208- leading portion the second wing bar, 209- leading portion third wing bar, 210- the first aerofoil support plate, 211- the second aerofoil support plate,
212- first connecting rod, 213- second connecting rod, the first swing rod of 214-, the second swing rod of 215-, the first pin shaft of 216-, 217- second are sold
Axis, 218- third pin shaft, the fixed gear of 219-, 220- planetary gear, 221- drive bevel gear, 222- driven wheel of differential, 223-
Middle section the first wing bar, the middle section 224- the second wing bar, the middle section 225- third wing bar, 226- tail end connecting rod, the 227- third wing
Face support plate, the 4th aerofoil support plate of 228-, 229-L type shaft, 230- aerofoil swing rod, the end 231- first connecting rod, the end 232-
Hold second connecting rod, the 5th aerofoil support plate of 233-, the 6th aerofoil support plate of 234-, 301- empennage, 302- empennage control panel, 303-
Empennage mounting rack, 304- control-rod, 305- steering engine, 306- empennage mounting rod, 307- oscillating rod.
Specific embodiment
The present invention is illustrated with reference to the accompanying drawing
As shown in Figure 1, it is a kind of based on flutter-fold-twisted coupling movement bionic flapping-wing flying vehicle, the bionic flapping-wing fly
Row device is made of fuselage 1, empennage mechanism 3 and wing 2 positioned at 1 two sides of fuselage, and the fuselage 1 includes fuselage outer framework and solid
Wing fixed frame 101 of the Dingan County in the middle part of fuselage outer framework；
As shown in Fig. 2, entire fuselage outer framework is imitative birds shape, fuselage outer framework is by leading portion circular frame 102, middle section
Circular frame 103 and back segment circular frame 104 pass sequentially through vertical frame 105 and are connected to form.
As shown in Figure 4, Figure 5 and Figure 6, the wing 2 include leading portion wing 201, middle section wing 202, latter end wing 203,
And it is coated on the soft cladding layer on three sections of wings 2, the leading portion wing 201 includes crank gear 204, triangular coupling rod one
205, triangular coupling rod 2 206, the first wing of leading portion bar 207, the second wing of leading portion bar 208, leading portion third wing bar 209, first
One vertex of aerofoil support plate 210 and the second aerofoil support plate 211, the triangular coupling rod 1 and triangular coupling rod 2 206 is logical
It crosses same root pin shaft to be hinged on wing fixed frame 101, another vertex of triangular coupling rod 1 is equipped be hinged and connected first
Connecting rod 212,212 other end of first connecting rod are hinged on the eccentric part on crank gear 204, triangular coupling rod by the first pin shaft 216
2 206 another vertex is equipped with the second connecting rod 213 hinged by the second pin shaft 217, and 213 bottom of second connecting rod is also articulated to
On first pin shaft 216, triangular coupling rod 1, triangular coupling rod 2 206 and first connecting rod 212 and second connecting rod 213 are collectively constituted
The third vertex of one quadrilateral structure, triangular coupling rod 1 and triangular coupling rod 2 206 outside this quadrilateral structure,
The third vertex of triangular coupling rod 1 is equipped with the first swing rod 214 being hinged and connected, and 214 other end of the first swing rod passes through third
Pin shaft 218 is hinged and connected with 207 left end of the first wing of leading portion bar, is also hinged with the second swing rod 215 on third pin shaft 218, and second
215 other end of swing rod is hinged on the second pin shaft 217, the third vertex of triangular coupling rod 2 206 and the second wing of leading portion bar 208
Left end is hinged and connected, and 209 left end of leading portion third wing bar is also articulated on the second pin shaft 217, and the first wing of leading portion bar 207 is with before
209 right end of section third wing bar is hinged by the 4th pin shaft, and the first aerofoil support plate 210 is mounted on leading portion second
208 left end of wing bar, leading portion third wing bar 209 are passed freely through from 210 bottom rectangle slot of the first aerofoil support plate, the second aerofoil
Support plate 211 is mounted on 208 right end of the second wing of leading portion bar, the first wing of leading portion bar 207 and leading portion third wing bar 209 from
Second aerofoil support plate, 211 bottom rectangle slot passes freely through, and the crank gear 204 of two wings 2 is intermeshed transmission, wherein one
The crank gear 204 of a wing 2 is driven by wing motor 106；
As shown in fig. 7, the middle section wing 202 include fixed gear 219, planetary gear 220, drive bevel gear 221, from
Dynamic bevel gear 222, middle section the first wing bar 223, middle section the second wing bar 224, middle section third wing bar 225, tail end connecting rod
226, third aerofoil support plate 227 and the 4th aerofoil support plate 228, the fixed gear 219 are fixed on leading portion by fixing axle
Second wing bar, 208 right end, 223 left end of middle section the first wing bar are hinged in fixing axle, the planetary gear 220, initiative taper
Gear 221 and driven wheel of differential 222 are mounted on middle section the first wing bar 223 by L-type shaft 229, and planetary gear 220 and solid
219 engaged transmission of fixed gear, in the case where the second wing of leading portion bar 208 swings up and down drive, so that planetary gear 220 is in middle section first
Planetary motion, the drive bevel gear 221 and 220 stationary phase of planetary gear are done around fixed gear 219 under the drive of wing bar 223
Even, the driven wheel of differential 222 is mounted on 229 other end of L-type shaft, and driven wheel of differential 222 engages biography with drive bevel gear 221
It is dynamic, 227 middle part of third aerofoil support plate, middle section second are hinged on by aerofoil swing rod 230 at 222 end face eccentric of driven wheel of differential
224 left end of wing bar is hinged on the 4th pin shaft of 209 right end of leading portion third wing bar, 225 left end of middle section third wing bar hinge
Connect the eccentric part in 220 top half of planetary gear, 224 right end of 223 right end of middle section the first wing bar and middle section the second wing bar
It is hinged on 226 bottom of tail end connecting rod together, third wing bar 225 right end in middle section is hinged on 226 top of tail end connecting rod, third aerofoil
The front end of support plate 227 and the front end of the 4th aerofoil support plate 228 be fixedly mounted at 225 left end of middle section third wing bar respectively and
At right end, middle section the first wing bar 223 and middle section the second wing bar 224 are successively from third aerofoil support plate 227 and the 4th aerofoil
228 bottom rectangle slot of support plate passes freely through；
As shown in figure 8, the latter end wing 203 includes end first connecting rod 231, end second connecting rod 232, the 5th aerofoil
Support plate 233 and the 6th aerofoil support plate 234,226 both ends of the first connecting rod 212, end second connecting rod 232 and tail end connecting rod
It is connected to form triangular structure, the 5th aerofoil support plate 233 and the 6th aerofoil support plate 234 are separately fixed at end first connecting rod
At 231 left end and at right end.
As shown in figure 3, the empennage mechanism 3 includes empennage 301, empennage control panel 302, empennage mounting rack 303 and two
A control-rod 304 and two steering engines 305, the empennage mounting rack 303 are mounted on wing fixed frame 101, empennage mounting rack 303
Middle part is equipped with horizontally disposed empennage mounting rod 306, is mounted on empennage mounting rod by spherical pair at 302 center of empennage control panel
306 end, empennage 301 are fixedly mounted in empennage control panel 302, and two steering engines 305 are symmetrical to be mounted on empennage peace
303 front end is shelved, two 304 tail ends of control-rod are mounted in empennage control panel 302 by spherical pair, two control-rods 304
Front end passes through corresponding oscillating rod 307 respectively and is connected with two steering engines 305, two 304 tail ends of control-rod and empennage mounting rod 306
End forms a triangular structure.
Six aerofoil support plates are pre-large post-small streamlined structure.
The soft cladding layer is fixed in six aerofoil support plates, passes through the size and shape tune of six aerofoil support plates
Save entire 2 shape of wing.
The soft cladding layer is any one in nylon cloth, flexible plastic, sheet metal, leather and feather or several
Kind combination.
When wing motor 106 in the present invention starts, the crank gear 204 on 106 output shaft of wing motor is rotated, and is driven
First connecting rod 212, the second connecting rod 213 being connected on crank gear 204 rotate, and triangular coupling rod 1, triangle is successively driven to connect
Bar 2 206, the first rocking bar, the rotation of the second rocking bar, two rocking bars drive the first wing of leading portion bar 207, leading portion the second wing bar
208, leading portion third wing bar 209 is swung；First aerofoil support plate 210, the second aerofoil support plate 211 are with leading portion the second wing bar
208 spatially flutter down, realize the movement of fluttering of wing 2.
Fixation gear 219 in the present invention is swung up and down with the second wing of leading portion bar 208, planetary gear 220 and fixed
219 engaged transmission of gear drives fixing axle of the first wing of the middle section bar 223 around 208 end of the second wing of leading portion bar to rotate, actively
Bevel gear 221 rotates with planetary gear 220, delivers torque to driven wheel of differential 222, is mounted on 222 end face of driven wheel of differential
On aerofoil swing rod 230 rotate, drive third aerofoil support plate 227 rotated by a small margin around middle section third wing bar 225, realize machine
The twist motion of the wing 2.
The first wing of leading portion bar 207, the second wing of leading portion bar 208, leading portion third wing bar 209 in the present invention rotate,
Successively drive the first wing of middle section bar 223, middle section the second wing bar 224, middle section third wing bar 225 and end first connecting rod
231, end second connecting rod 232 rotates, and leading portion wing 201, middle section wing 202 and 203 rotational angle of latter end wing are different, realizes
The folding movement of wing 2.
Realize that movement of fluttering, folding movement, the twist motion of wing 2, three movement synthesis are real by aforementioned link mechanism
- twisted coupling the movement of fluttering-fold of wing 2 is showed.
When the steering engine 305 of empennage mechanism 3 in the present invention rotates counterclockwise, the swing on 305 output shaft of steering engine is driven
Bar 307 rotates counterclockwise, and oscillating rod 307 is connect with one end spherical pair of control-rod 304, the other end and empennage of control-rod 304
Control panel 302 is connected by spherical pair, and empennage 301 is fixedly connected with empennage control panel 302；Another 305 side of installation of steering engine
Method is the same, and two 304 tail ends of control-rod and 306 end of empennage mounting rod form a triangular structure.Two steering engines 305 pass through
Two control-rods 304 adjust empennage control panel 302 in the angle of vertical direction, to realize the upper and lower of empennage 301 and left and right fortune
It is dynamic.
The present invention is a kind of flapping wing aircraft with three degree of freedom that wing can be fluttered, folds but also be reversed；It is suitable
For the civilian and national defence such as biochemistry detection and environmental monitoring, disaster search and rescue, low-altitude reconnaissance, communication relay and signal interference.
Therefore, the present invention is few with driving driving link, is able to achieve flutter-fold-flapping motion of twisted coupling, flight spirit
The big feature of useful lift that is living and generating.
Claims (6)
1. it is a kind of based on flutter-fold-twisted coupling movement bionic flapping-wing flying vehicle, it is characterised in that: the bionic flapping-wing fly
Row device is made of fuselage, empennage mechanism and wing positioned at fuselage two sides, and the fuselage includes fuselage outer framework and fixed peace
Wing fixed frame in the middle part of fuselage outer framework；
The wing includes leading portion wing, middle section wing, latter end wing and the soft cladding layer being coated on three sections of wings,
The leading portion wing include crank gear, triangular coupling rod one, triangular coupling rod two, the first wing of leading portion bar, the second wing of leading portion bar,
Leading portion third wing bar, the first aerofoil support plate and the second aerofoil support plate, the one of the triangular coupling rod one and triangular coupling rod two
A vertex is hinged on wing fixed frame by same root pin shaft, and another vertex of triangular coupling rod one is equipped with the be hinged and connected
One connecting rod, the first connecting rod other end are hinged on the eccentric part on crank gear by the first pin shaft, triangular coupling rod two another
Vertex is equipped with the second connecting rod hinged by the second pin shaft, and second connecting rod bottom is also articulated on the first pin shaft, triangular coupling rod one,
Triangular coupling rod two and first connecting rod and second connecting rod collectively constitute a quadrilateral structure, triangular coupling rod one and triangular coupling rod two
Third vertex outside this quadrilateral structure, the third vertex of triangular coupling rod one is equipped with the first pendulum being hinged and connected
Bar, the first swing rod other end are hinged and connected by third pin shaft and leading portion the first wing bar left end, are also hinged on third pin shaft
Second swing rod, the second swing rod other end are hinged on the second pin shaft, the third vertex of triangular coupling rod two and the second wing of leading portion
Bar left end is hinged and connected, and leading portion third wing bar left end is also articulated on the second pin shaft, leading portion the first wing bar and leading portion third
Wing bar right end is hinged by the 4th pin shaft, and the first aerofoil support plate is mounted on leading portion the second wing bar left end,
Leading portion third wing bar is passed freely through from the first aerofoil support plate bottom rectangular channel, and the second aerofoil support plate is mounted on leading portion second
Wing bar right end, leading portion the first wing bar and leading portion third wing bar are freely worn from the second aerofoil support plate bottom rectangular channel
It crosses, the crank gear of two wings is intermeshed transmission, and the crank gear of one of wing passes through wing motor driven；
The middle section wing include fixed gear, planetary gear, drive bevel gear, driven wheel of differential, middle section the first wing bar, in
The second wing bar of section, middle section third wing bar, tail end connecting rod, third aerofoil support plate and the 4th aerofoil support plate, the fixation
Gear is fixed on leading portion the second wing bar right end by fixing axle, and middle section the first wing bar left end is hinged in fixing axle, described
Planetary gear, drive bevel gear and driven wheel of differential are mounted on middle section the first wing bar by L-type shaft, and planetary gear and solid
Fixed gear engaged transmission, the drive bevel gear are fixedly linked with planetary gear, and it is another that the driven wheel of differential is mounted on L-type shaft
One end, driven wheel of differential and drive bevel gear engaged transmission are hinged on the by aerofoil swing rod at driven wheel of differential end face eccentric
In the middle part of Three-wing-surface support plate, middle section the second wing bar left end is hinged on the 4th pin shaft of leading portion third wing bar right end, middle section
Third wing bar left end is hinged on the eccentric part of planetary gear top half, the second wing of middle section the first wing bar right end and middle section
Bar right end is hinged on tail end connecting rod bottom together, and middle section third wing bar right end is hinged at the top of tail end connecting rod, third aerofoil branch
The front end of fagging and the front end of the 4th aerofoil support plate are fixedly mounted respectively at the third wing bar left end of middle section and at right end, middle section
First wing bar and middle section the second wing bar are successively free from third aerofoil support plate and the 4th aerofoil support plate bottom rectangular channel
It passes through；
The latter end wing includes end first connecting rod, end second connecting rod, the 5th aerofoil support plate and the 6th aerofoil support plate,
The end first connecting rod, end second connecting rod and tail end connecting rod both ends are connected to form triangular structure, the 5th aerofoil support plate
It is separately fixed at the left end of end first connecting rod and at right end with the 6th aerofoil support plate.
2. as described in claim 1 based on flutter-fold-twisted coupling movement bionic flapping-wing flying vehicle, it is characterised in that:
The empennage mechanism includes empennage, empennage control panel, empennage mounting rack and two control-rods and two steering engines, the empennage
Mounting rack is mounted on wing fixed frame, is equipped with horizontally disposed empennage mounting rod in the middle part of empennage mounting rack, in empennage control panel
The end of empennage mounting rod is mounted at the heart by spherical pair, empennage is fixedly mounted in empennage control panel, two steering engines or so
It is symmetrically installed on the front end of empennage mounting rack, two control-rod tail ends are mounted in empennage control panel by spherical pair, and two
Control-rod front end passes through the oscillating rod accordingly crossed respectively and is connected with two steering engines, two control-rod tail ends and empennage mounting rod end
Form a triangular structure.
3. as described in claim 1 based on flutter-fold-twisted coupling movement bionic flapping-wing flying vehicle, it is characterised in that:
Six aerofoil support plates are pre-large post-small streamlined structure.
4. as described in claim 1 based on flutter-fold-twisted coupling movement bionic flapping-wing flying vehicle, it is characterised in that:
The soft cladding layer is fixed in six aerofoil support plates, adjusts entire machine by the size and shape of six aerofoil support plates
Wing-like.
5. as described in claim 1 based on flutter-fold-twisted coupling movement bionic flapping-wing flying vehicle, it is characterised in that:
The soft cladding layer is that any one or a few in nylon cloth, flexible plastic, sheet metal, leather and feather combines.
6. as described in claim 1 based on flutter-fold-twisted coupling movement bionic flapping-wing flying vehicle, it is characterised in that:
The bionic flapping-wing flying vehicle can be applied to airborne aircraft or submarine navigation device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710672737.1A CN107554782B (en) | 2017-08-08 | 2017-08-08 | It is a kind of based on flutter-fold-twisted coupling movement bionic flapping-wing flying vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710672737.1A CN107554782B (en) | 2017-08-08 | 2017-08-08 | It is a kind of based on flutter-fold-twisted coupling movement bionic flapping-wing flying vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN107554782A CN107554782A (en) | 2018-01-09 |
| CN107554782B true CN107554782B (en) | 2019-08-02 |
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| CN201710672737.1A Expired - Fee Related CN107554782B (en) | 2017-08-08 | 2017-08-08 | It is a kind of based on flutter-fold-twisted coupling movement bionic flapping-wing flying vehicle |
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| CN109334975B (en) * | 2018-08-06 | 2020-08-21 | 浙江工业大学 | Three-hinge bionic variant mechanism of deformable wing and design method thereof |
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| CN110065630B (en) * | 2019-04-01 | 2021-09-03 | 哈尔滨工业大学（深圳） | Bionic flapping wing flying robot |
| CN110371288B (en) * | 2019-07-31 | 2022-10-21 | 武汉科技大学 | Bionic flapping wing aircraft with adjustable flapping amplitude angle |
| CN112298553B (en) * | 2020-09-08 | 2022-04-08 | 南京航空航天大学 | Torsion self-adaptive wing structure suitable for large flapping wing |
| CN112278231B (en) * | 2020-09-18 | 2022-05-17 | 浙江大学 | Double-section flapping wing aircraft frame |
| CN112407277A (en) * | 2020-11-30 | 2021-02-26 | 北京机电工程研究所 | Bionic flapping wing aircraft |
| CN113002772B (en) * | 2021-03-26 | 2022-09-20 | 吉林大学 | Flapping-folding integrated bat-like flapping wing aircraft |
| CN114735211B (en) * | 2022-03-24 | 2023-01-20 | 上海工程技术大学 | Deformable flexible deformation wing aircraft |
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| JP2010105413A (en) * | 2008-10-28 | 2010-05-13 | Chiba Inst Of Technology | Reciprocating oscillating mechanism and ornithopter using the same |
| CN105329443A (en) * | 2015-11-20 | 2016-02-17 | 武汉科技大学 | Ornithopter capable of realizing flapping-reversing coupled motion |
| CN105691615A (en) * | 2016-03-22 | 2016-06-22 | 吉林大学 | Miniature flapping wing air vehicle with wings capable of performing active deformation and with multiple freedom degrees |
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| CN107554782A (en) | 2018-01-09 |
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